内容：
磁悬浮控制敏感陀螺以洛伦兹力磁轴承为力矩器驱动转子偏转。针对磁悬浮控制敏感陀螺转子径向转动自由度间存在耦合的问题以及转子偏转高精度快响应的要求,提出一种前馈解耦内模控制方法。根据洛伦兹力磁轴承的工作原理建立了转子偏转动力学模型,并设计了前馈解耦矩阵实现转子径向偏转解耦,在此基础上,采用二自由度内模控制器对转子进行高精度快响应偏转控制。Matlab仿真结果表明所提出的控制方法可以有效实现对陀螺转子偏转的完全解耦,且转子偏转响应时间较传统交叉PID算法减少57.1%,受0.1sin(2πt)°正弦信号扰动影响产生的偏转波动幅值较交叉PID算法减少76%。Magnetic Suspension Control Sensitive Gyro Drives Rotor Deflection with Lorentz Force Magnet Bearings as Torque. Aiming at the problem of coupling between radial freedom of radial rotation of sensitive gyro rotor and the requirement of high accuracy and fast response of rotor deflection, a feedforward decoupling internal model control method is proposed. According to the working principle of Lorentz force magnetic bearing, the rotor deflection kinetic model is established, and the feedforward decoupling matrix is designed to realize rotor radial deflection decoupling. On this basis, the rotor is carried out by using two-degree-of-freedom internal model controller High precision fast response to deflection control. The simulation results show that the proposed method can effectively achieve the complete decoupling of the gyro rotor deflection, and the rotor deflection response time is 57.1% less than that of the traditional crossover PID algorithm. The deflection caused by the sinusoidal signal disturbance of 0.1 sin (2πt) The amplitude is reduced by 76% compared with the crossed PID algorithm.

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